/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup WavPlayerModule WavPlayer Module
 * @brief Process WavPlayer information
 * @{
 *
 * @file       wavplayer.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      WavPlayer module
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

// ****************
#include "openpilot.h"

// ****************
// Private functions

static void WavPlayerTask(void *parameters);

// ****************
// Private constants

#define STACK_SIZE_BYTES 1600

#define TASK_PRIORITY    (tskIDLE_PRIORITY + 4)

// ****************
// Private variables

static xTaskHandle WavPlayerTaskHandle;

static uint32_t timeOfLastCommandMs;
static uint32_t timeOfLastUpdateMs;

// ****************
int32_t WavPlayerStart(void)
{
    // Start WavPlayer task
    xTaskCreate(WavPlayerTask, "WavPlayer", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &WavPlayerTaskHandle);

    return 0;
}
/**
 * Initialise the WavPlayer module
 * \return -1 if initialisation failed
 * \return 0 on success
 */
int32_t WavPlayerInitialize(void)
{
    return 0;
}
MODULE_INITCALL(WavPlayerInitialize, WavPlayerStart);

// ****************
/**
 * Main WavPlayer task. It does not return.
 */

static void WavPlayerTask(__attribute__((unused)) void *parameters)
{
    portTickType lastSysTime;

    // Loop forever
    lastSysTime = xTaskGetTickCount();
    uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;

    timeOfLastUpdateMs  = timeNowMs;
    timeOfLastCommandMs = timeNowMs;
#if defined(PIOS_INCLUDE_WAVE)
    WavePlayer_Start();
#endif
    // Loop forever
    while (1) {
        vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
        timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
    }
}

// ****************

/**
 * @}
 * @}
 */
